hpp::core::WeighedDistance Class Reference

Weighed distance between configurations. More...

#include <hpp/core/weighed-distance.hh>

Inheritance diagram for hpp::core::WeighedDistance:
Collaboration diagram for hpp::core::WeighedDistance:

Public Member Functions

virtual DistancePtr_t clone () const
 
value_type getWeight (int rank) const
 Get weight of joint at given rank. More...
 
void setWeight (unsigned int rank, value_type weight)
 Set weight of joint at given rank. More...
 
const DevicePtr_trobot () const
 Get robot. More...
 
- Public Member Functions inherited from hpp::core::Distance
virtual value_type operator() (ConfigurationIn_t q1, ConfigurationIn_t q2) const
 

Static Public Member Functions

static WeighedDistancePtr_t create (const DevicePtr_t &robot)
 
static WeighedDistancePtr_t create (const DevicePtr_t &robot, const std::vector< value_type > &weights)
 
static WeighedDistancePtr_t createCopy (const WeighedDistancePtr_t &distance)
 

Protected Member Functions

 WeighedDistance (const DevicePtr_t &robot)
 
 WeighedDistance (const DevicePtr_t &robot, const std::vector< value_type > &weights)
 
 WeighedDistance (const WeighedDistance &distance)
 
void init (WeighedDistanceWkPtr_t self)
 
virtual value_type impl_distance (ConfigurationIn_t q1, ConfigurationIn_t q2) const
 Derived class should implement this function. More...
 
- Protected Member Functions inherited from hpp::core::Distance
 Distance ()
 

Detailed Description

Weighed distance between configurations.

Euclidean distance between configurations seen as vectors. Each degree of freedom is weighed by a positive value.

Constructor & Destructor Documentation

◆ WeighedDistance() [1/3]

hpp::core::WeighedDistance::WeighedDistance ( const DevicePtr_t robot)
protected

◆ WeighedDistance() [2/3]

hpp::core::WeighedDistance::WeighedDistance ( const DevicePtr_t robot,
const std::vector< value_type > &  weights 
)
protected

◆ WeighedDistance() [3/3]

hpp::core::WeighedDistance::WeighedDistance ( const WeighedDistance distance)
protected

Member Function Documentation

◆ clone()

virtual DistancePtr_t hpp::core::WeighedDistance::clone ( ) const
virtual

Implements hpp::core::Distance.

◆ create() [1/2]

static WeighedDistancePtr_t hpp::core::WeighedDistance::create ( const DevicePtr_t robot)
static

◆ create() [2/2]

static WeighedDistancePtr_t hpp::core::WeighedDistance::create ( const DevicePtr_t robot,
const std::vector< value_type > &  weights 
)
static

◆ createCopy()

static WeighedDistancePtr_t hpp::core::WeighedDistance::createCopy ( const WeighedDistancePtr_t distance)
static

◆ getWeight()

value_type hpp::core::WeighedDistance::getWeight ( int  rank) const

Get weight of joint at given rank.

Parameters
rankrank of the joint in robot joint vector

◆ impl_distance()

virtual value_type hpp::core::WeighedDistance::impl_distance ( ConfigurationIn_t  q1,
ConfigurationIn_t  q2 
) const
protectedvirtual

Derived class should implement this function.

Implements hpp::core::Distance.

◆ init()

void hpp::core::WeighedDistance::init ( WeighedDistanceWkPtr_t  self)
protected

◆ robot()

const DevicePtr_t& hpp::core::WeighedDistance::robot ( ) const
inline

Get robot.

◆ setWeight()

void hpp::core::WeighedDistance::setWeight ( unsigned int  rank,
value_type  weight 
)

Set weight of joint at given rank.

Parameters
rankrank of the joint in robot joint vector